Adaptive motion estimation

ABSTRACT

Some embodiments of the invention provide a method for adaptively performing motion estimation. In some embodiments, the method initially performs a first motion estimation operation. It then determines whether the estimated error in the result of the first motion estimation is greater than a particular threshold. If not, the method uses the results of the first motion estimation operation. Otherwise, the method selects another motion estimation operation. The method continues in this manner until it performs a motion estimation operation that results in an acceptable estimated error, or until it tries all the motion estimation operations at its disposal. When the method cannot identify a motion estimation operation that produces results with an acceptable estimated error, the method selects the result of the motion estimation operation that produced the best results.

CLAIM OF BENEFIT TO PRIOR APPLICATIONS

This Application is a continuation application of U.S. patentapplication Ser. No. 10/427,890, filed Apr. 30, 2003 now U.S. Pat. No.7,742,525. U.S. patent application Ser. No. 10/427,890 claims thebenefit of the U.S. Provisional Patent Application 60/395,964, filedJul. 14, 2002, and U.S. Provisional Patent Application 60/395,965, filedJul. 14, 2002. U.S. patent application Ser. No. 10/427,890, and U.S.Provisional Patent Applications 60/395,964 and 60/395,965 areincorporated herein by reference.

FIELD OF THE INVENTION

The present invention is directed towards a method for adaptivelyperforming motion estimation.

BACKGROUND OF THE INVENTION

A motion estimator in an MPEG encoding scheme tries to identify a motionvector that specifies the difference in position of an image block intwo different image frames. These two frames are a reference frame and acurrent frame. There are a variety of different motion estimationtechniques. For instance, some motion estimators use a predicted motionvector to start their analysis, while others do not.

Also, some motion estimators are hierarchical in nature while others arenot. Hierarchical motion estimators use coarse searches to quickly finda rough estimate of the motion vector, and then refine the vectorestimate by performing additional searches at finer level or levels ofgranularity. Examples of such hierarchical techniques include techniquesthat examine image blocks at different image resolutions (e.g., examinedown-sampled image blocks, and then examine image blocks at higher andhigher resolutions).

Other hierarchical techniques are step-size reducing techniques. Onesuch technique is the four-step technique. This technique initiallyexamines eight image blocks within the reference frame that are twopixels away from an image block that a predicted motion vectoridentifies in the reference frame. If any of the examined image blocksis a better match for the image block of the current frame, thefour-step process sets the best matching image block as the current bestimage block. In its subsequent iteration or iterations, the four stepprocess continues examining eight image blocks that are two pixels awayfrom the current best image block until, in one iteration, the processdetermines that none of the surrounding image blocks is a better matchfor the current-frame image block than the current best image block.When the process determines that the current best image block is abetter match than each of the image blocks that are two pixels away fromthe current best image block, the process examines eight image blocksthat are one pixel away from the current best image block in thereference frame. The process then defines the matching image block asthe image block that this last examination identified as the bestmatching one.

Existing motion estimation techniques often statically solve each motionestimation problem in the same manner. For instance, the initial motionvector can identify an initial image block that may be, or may be closeto, an acceptable match for the current-frame image block.Alternatively, the initial motion-vector might identify an initial imageblock that is far from an acceptable match. However, in both thesesituations, prior motion estimation techniques typically perform thesame motion estimation operations irrespective of the quality of theinitial motion estimation. Therefore, there is a need in the art for anadaptive motion estimation technique that treats different motionestimation problems differently.

SUMMARY OF THE INVENTION

Some embodiments of the invention provide a method for adaptivelyperforming motion estimation. In some embodiments, the method initiallyperforms a first motion estimation operation. It then determines whetherthe estimated error in the result of the first motion estimation isgreater than a particular threshold. If not, the method uses the resultsof the first motion estimation operation. Otherwise, the method selectsanother motion estimation operation. The method continues in this manneruntil it performs a motion estimation operation that results in anacceptable estimated error, or until it tries all the motion estimationoperations at its disposal. When the method cannot identify a motionestimation operation that produces results with an acceptable estimatederror, the method selects the result of the motion estimation operationthat produced the best results.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth in the appendedclaims. However, for purpose of explanation, several embodiments of theinvention are set forth in the following figures.

FIG. 1 illustrates a process that dynamically sets motion-estimationparameters based on the estimated accuracy of a predicted motion vector.

FIG. 2 illustrates one manner for specifying a predicted motion vectorfor the process of FIG. 1.

FIG. 3 illustrates two different search windows and that can be used tosearch for a matching block in a reference frame.

FIG. 4 illustrates one type of hierarchical motion-estimation search.

FIG. 5 illustrates an adaptive, hierarchical motion-estimation processof some embodiments of the invention.

FIG. 6 illustrates a process used by some embodiments of the invention.

FIG. 7 presents a computer system with which one embodiment of theinvention is implemented.

DETAILED DESCRIPTION OF THE INVENTION

In the following description, numerous details are set forth for purposeof explanation. However, one of ordinary skill in the art will realizethat the invention may be practiced without the use of these specificdetails. In other instances, well-known structures and devices are shownin block diagram form in order not to obscure the description of theinvention with unnecessary detail.

Several embodiments of the invention will now be described by referenceto FIGS. 1-7. Some of the embodiments described below use a hierarchicalmotion estimation approach. One of ordinary skill, however, will realizethat many aspects of the invention can be used with other motionestimation techniques. Also, several embodiments described below try toestimate the motion of an array of image values that are obtained from acurrent frame by searching for matching arrays of image values that areobtained from a reference frame. In some embodiments, the image arrayvalues are two-dimensional arrays of luminance values. For instance, insome embodiments, the image arrays are 16-by-16, 8-by-8, or 4-by-4blocks of luminance values. In MPEG encoding, it is common to performmotion estimation for 16-by-16 blocks, which are typically calledmacroblocks.

Each position in an image array obtained from a current frame or areference frame might correspond to a particular pixel in itscorresponding current or reference frame. In such a case, each pixelvalue in the array is the color-component (e.g., luminance) value of itscorresponding pixel. Alternatively, each position in an image arraymight not correspond to a particular pixel in its frame, but rathermight represent the color-component value of several adjacent pixels.Hence, this document states that the image arrays “are obtained” fromthe current frame or the reference frame to cover both the case wherethere is a one-to-one correspondence between the color values and thepixels in the frames, and the cases where there is no such one-to-onecorrespondence.

FIG. 1 illustrates a process 100 that a motion estimator uses todynamically set motion-estimation parameters based on the estimatedaccuracy of a predicted motion vector. This process initially identifies(at 105) a predicted motion vector. Some embodiments identify thepredicted motion vector by first initializing this vector for a firstimage array of the current frame. Different embodiments initialize thepredicted motion vector for the first image array differently. Forinstance, some embodiments set this predicted motion vector to zero,while others set this vector to the vector of the image array in aprevious image that corresponds to the first image array.

For each particular subsequent image array of the current frame, theseembodiments then set this vector based on the predicted vectors of theimage arrays that surround the particular image array. FIG. 2illustrates one such manner for specifying the predicted vectors.Specifically, this figure illustrates the predicted motion vector 205 ofan array 210 in a current frame 215. This predicted motion vector iscomputed as the median of the motion vectors of arrays 220, 225, and230. These three arrays are adjacent to array 210, and the motionestimator previously specified their motion vectors.

FIG. 2 also illustrates the use of a motion vector to perform a motionestimation search. Specifically, it illustrates that once the predictedmotion vector 205 is specified for the array 210, a hierarchical searchis performed within a search window 235 in the reference frame 240. Thissearch is for an array that closely resembles the array 210. As shown inthis figure, this search starts at the location 250 specified by thepredicted motion vector 205.

After 105, the process 100 computes (at 110) an estimated error based onthe predicted motion vector. Different embodiments use different errormetrics to quantify the estimated error. Some embodiments use the meanabsolute difference (“MAD”) metric. This metric quantifies the error inthe following manner:

$\begin{matrix}{{MAD} = {\frac{1}{N_{p}}{\sum\limits_{i}{{{x_{i} - y_{i}}}.}}}} & (1)\end{matrix}$In the above equation (1), the summation of the absolute value termsequals the difference between pixel values x_(i) of the current-framearray with pixel values y_(i) of the reference-frame array that wasidentified by the predicted motion vector, which was identified at 105.Also, N_(p) is the number of pixels in the current-frame array, and i isa variable from 1 to N_(p).

Next, the process determines (at 115) whether the estimated error isgreater than a threshold value. If so, the process specifies (at 130) alarge search window and sets (at 135) the starting hierarchical level ofthe motion estimation search to a higher hierarchical level, beforeperforming a motion estimation operation at 140. Otherwise, when theestimated error is not greater than the threshold value, the processspecifies (at 120) a smaller search window and sets (at 125) thestarting hierarchical level of the motion estimation search to a lowerhierarchical level, before performing the motion estimation operation at140.

FIGS. 3 and 4 provide examples of search window and hierarchical levelsthat can be specified by the process 100 at 120, 125, 130, and 135.Specifically, FIG. 3 illustrates two different search windows 305 and310 that can be used to search for a matching array in a reference frame315. In some instances, the reference frame is the frame before thecurrent frame, but this does not necessarily have to be the case. Whenthe error computed (at 115) by the process 100 is small, it can beassumed that an accurate match can be found close to the locationspecified by the predicted motion vector. In this case, a small searchwindow is used so that the motion estimation finishes quickly whilereturning an accurate vector. If the error estimated at 115 is large, abigger search window is used, since it can not be assumed that anaccurate match can be found close to the location specified by thepredicted vector. The larger search window increases the chance that themotion estimator will find an acceptable match. However, searching thelarger space may take a significantly longer time.

FIG. 3 shows the large and small search windows to be centered about thesame point, which, in some embodiments, is the location of the center ofthe array (e.g., macroblock) in the current frame. In other embodiments,the smaller search window is centered about the predicted location.However, in some of these embodiments, this search window would neverextend beyond the large search window. In other words, the small searchwindow would be clipped by the larger one.

FIG. 4 illustrates one type of hierarchical motion-estimation search.This search starts by comparing the current-frame array with severaldifferent reference-frame arrays that are located (e.g., have theircenter or a vertex) (1) at a location 405 that is specified by thepredicted motion vector and (2) at location 410 a-410 h that neighborsthe location 405. The neighboring locations 410 a-410 h are a particulardistance (referred to as the “step-size”) away from the predictedlocation 405. For instance, in FIG. 4, the distance between locations410 a-410 h and location 405 is 8 pixels.

To compare the current-frame array with a reference-frame array, someembodiments generate a difference metric score, e.g., generate a scoreaccording to the above-mentioned MAD metric. These embodiments thenidentify the reference-frame array with the best difference metricscore. These embodiments then perform a finer search about theidentified array. For instance, in the example illustrated in FIG. 4,the reference-frame array located at 410 e has the best differencemetric cost after the first iteration. Accordingly, after examininglocations 410 a-410 h that are 8 pixels away from the predicted location405, the search process examines locations 415 a-415 h that are fourpixels away from the location 410 e. This hierarchical process cancontinue until the step size equals 1 (i.e., until the analyzed pixellocations are separated by 1 pixel). The location with the bestdifference metric score at the final hierarchical level is then selectedas one end (e.g., the destination) of the motion vector. The other end(e.g., the source) of the motion vector is the location (e.g.,location-defining center or vertex) of the current-frame array.

When the error computed (at 115) by the process 100 is small, then it isassumed that the location for the best matching reference-frame arraylies close to the predicted motion vector. Hence, for the hierarchicalprocess illustrated in FIG. 4, the process 100 sets (at 125) the initialstep size to a lower value (e.g., four or two as opposed to 8) since afine granularity search around the predicted motion vector will likelybe sufficient. However, if the error estimated at 115 is large, theprocess 100 sets (at 135) the initial step size to a higher value (e.g.,eight) since the best matching reference-frame is probably far from thepredicted motion vector, and the larger step size increases the chancethat the motion estimator will find an acceptable match. However,starting with the larger step size increases the search time.

FIG. 5 illustrates an adaptive, hierarchical motion-estimation process500 of some embodiments of the invention. This process is a modificationof the four-step process that was described in the background. Thisprocess initially identifies (at 505) a predicted motion vector. Onemanner for identifying a predicted motion vector was described above byreference to FIG. 2. After 505, the process 500 computes (at 510) anestimated error based on the predicted motion vector. One manner forcomputing such an error was described above by reference to equation(1).

Next, the process determines (at 515) whether the estimated error isgreater than a threshold value. If so, the process specifies (at 520)the step size as 8. At 520, the process then compares the current-framearray with several different reference-frame arrays that are located(e.g., have their center or a vertex) (1) at a search-center location(e.g., 405 in FIG. 4) that is specified by the predicted motion vectorand (2) at locations (e.g., 410 a-410 h in FIG. 4) that are 8 pixelsaway from the search center location (e.g., 405 in FIG. 4). As mentionedabove, some embodiments compare the current-frame array with areference-frame array by generating a difference metric score, such asan MAD metric. These embodiments then identify the reference-frame arraywith the best difference metric score.

At 525, the process then determines whether the best difference metricscore is less than a second threshold. This second threshold isdifferent than the threshold used at 515 in some embodiments, while itis equal to this threshold in other embodiments. If the difference isless than the second threshold, the process sets (at 550) the step sizeto 1, and defines the search-center location as the location with thebest difference metric score in the last search. It then transitions to560, which is further described below.

If the process determines (at 525) that the best difference metric scorein the last search (which, in this loop, might have been performed at520 as described above, or at 545 as described below) is not less thanthe second threshold, it determines (at 530) whether the current centerof the search provided the best difference metric score. If not, theprocess defines (at 527) the current search center as the examinedlocation that provided the best difference metric score in the lastsearch. From 527, the process transitions to 545, which is furtherdescribed below.

If the process determines (at 530) that the current search centerprovided the best difference metric score, the process determines (at535) whether the step size equals 1. If the step size is 1, the processthen transitions to 575, which is further described below. If the stepsize is not 1, the process reduces (at 540) the step size. In someembodiments, the process reduces the step size by dividing the currentstep size by 2. From 540, the process transitions to 545. The processalso transitions to 545 from 527.

At 545, the process performs a search about the current search center.This search entails comparing the current-frame array with severaldifferent reference-frame arrays that are located (e.g., have theircenter or a vertex) (1) at the current search-center location and (2) atlocations that are the current step size away from the search centerlocation. Some embodiments compare (at 545) the current-frame array witha reference-frame array by generating a difference metric score. Theseembodiments then identify (at 545) the reference-frame array with thebest difference metric score. From 545, the process transitions to 525,which was described above.

If the process determines (at 515) that the estimated error computed at510 is less than or equal to the first threshold, the process sets (at555) the search center as the predicted location. At 555, the processalso sets the step size to 1. From 555, the process transitions to 560.As mentioned above, the process also transitions to 560 from 550.

At 560, the process performs a search about the current search center.This search entails comparing the current-frame array with severaldifferent reference-frame arrays that are located (e.g., have theircenter or a vertex) (1) at the current search-center location and (2) atlocations that are 1 pixel away from the search center location. Someembodiments compare (at 560) the current-frame array with areference-frame array by generating a difference metric score. Theseembodiments then identify (at 560) the reference-frame array with thebest difference metric score.

After 560, the process determines (at 565) whether the current searchcenter provided the best metric score identified at 560. If not, theprocess sets (at 570) the search center to the examined location thatprovided the best difference metric score in the last search. It thentransitions back to 560, which was described above.

If the process determines (at 565) that the current search centerprovided the best difference metric score at 560, the processtransitions to 575. As mentioned above, the process also transitions to575 from 535. At 575, the process defines the motion vector based on thecurrent search center. After 575, the process ends.

FIG. 6 illustrates a process 600 used by some embodiments of theinvention. This process can dynamically examine differentmotion-estimation techniques in order to identify one technique thatproduces an acceptable result. Some embodiments perform this process totry to identify a motion vector for each current-frame array. Beforethis process starts, some embodiments specify a list that identifiesdifferent motion estimation techniques in a sorted order from theexpected fastest to the expected slowest. Several examples of motionestimation techniques were described above by reference to FIGS. 1-5. Anexample of a list of motion estimation techniques includes the followingthree searches in the order that they are listed: a conventional“three-step search”, the modified-four-step search of FIG. 5, and aconventional “full search”.

The process 600 initially performs (at 605) the fastest motionestimation operation on the specified list. In some embodiments, eachmotion estimation operation on the list provides a motion vector and anestimated error. The motion vector specifies how much a current-framearray has moved since it appeared in the reference frame. Each motionestimator identifies this motion vector by searching for an array in thereference frame that most closely matches the current-frame array. Itidentifies the best reference-frame array that it encounters during itssearch and uses this reference-frame array to specify the motion vector.

The estimated error generated by a motion estimator quantifies thedifference between the current-frame array and the best reference-framearray that it encountered during its search. Different embodiments usedifferent error metrics to quantify the estimated error. Someembodiments use the mean absolute difference (“MAD”) metric, which wasdescribed above by reference to equation (1).

Next, the process determines (at 610) whether the estimated error isgreater than a threshold value. If so, the process determines (at 615)whether it has examined all the motion estimation operations that arespecified on the sorted list. When it has not examined all theseoperation, the process performs (at 620) the next fastest motionestimation operation and transitions back to 610, which was describedabove. If the subsequent motion estimation operation (at 620) needs apredicted motion vector to start, the process 600 in some embodimentsuses the motion vector of the previous motion estimation operation.

If the process determines (at 615) that it has examined all motionestimation operations without finding one that produced an acceptableresult, the process selects the motion vector of the best result (i.e.,the result that had the smallest estimated error) as the output of themotion estimation stage, and then ends.

On the other hand, if the process determines (at 610) that the estimatederror of a particular motion estimation operation is not greater than athreshold, it selects (at 630) the motion vector of the particularmotion estimation operation as the output of the motion estimationstage, and then ends. By sorting the motion estimation operations in adescending order based on their speed, the process 600 ensures that itfinds an acceptable result in the fastest possible way.

FIG. 7 presents a computer system with which one embodiment of theinvention is implemented. Computer system 700 includes a bus 705, aprocessor 710, a system memory 715, a read-only memory 720, a permanentstorage device 725, input devices 730, and output devices 735. The bus705 collectively represents all system, peripheral, and chipset busesthat communicatively connect the numerous internal devices of thecomputer system 700. For instance, the bus 705 communicatively connectsthe processor 710 with the read-only memory 720, the system memory 715,and the permanent storage device 725.

From these various memory units, the processor 710 retrievesinstructions to execute and data to process in order to execute theprocesses of the invention. The read-only-memory (ROM) 720 stores staticdata and instructions that are needed by the processor 710 and othermodules of the computer system. The permanent storage device 725, on theother hand, is read-and-write memory device. This device is anon-volatile memory unit that stores instruction and data even when thecomputer system 700 is off. Some embodiments of the invention use amass-storage device (such as a magnetic or optical disk and itscorresponding disk drive) as the permanent storage device 725.

Other embodiments use a removable storage device (such as a floppy diskor Zip® disk, and its corresponding disk drive) as the permanent storagedevice. Like the permanent storage device 725, the system memory 715 isa read-and-write memory device. However, unlike storage device 725, thesystem memory is a volatile read-and-write memory, such as a randomaccess memory. The system memory stores some of the instructions anddata that the processor needs at runtime. In some embodiments, theinvention's processes are stored in the system memory 715, the permanentstorage device 725, and/or the read-only memory 720.

The bus 705 also connects to the input and output devices 730 and 735.The input devices enable the user to communicate information and selectcommands to the computer system. The input devices 730 includealphanumeric keyboards and cursor-controllers. The output devices 735display images generated by the computer system. For instance, thesedevices display IC design layouts. The output devices include printersand display devices, such as cathode ray tubes (CRT) or liquid crystaldisplays (LCD).

Finally, as shown in FIG. 7, bus 705 also couples computer 700 to anetwork 765 through a network adapter (not shown). In this manner, thecomputer can be a part of a network of computers (such as a local areanetwork (“LAN”), a wide area network (“WAN”), or an Intranet) or anetwork of networks (such as the Internet). Any or all of the componentsof computer system 700 may be used in conjunction with the invention.However, one of ordinary skill in the art would appreciate that anyother system configuration may also be used in conjunction with thepresent invention.

The adaptive motion estimation processes that were described above haveseveral advantages. For instance, unlike existing motion estimationtechniques that statically solve each motion estimation problem in thesame manner, these motion estimation processes of the invention treatdifferent motion estimation problems differently. The process 100 ofFIG. 1, for example, dynamically sets the motion estimation parametersat the start of the motion estimation search based on the quality of theinitial motion estimation. The process 500 of FIG. 5 similarly sets themotion estimation parameters at the start of its operations. In thismanner, both the processes 100 and 500 speed up their motion estimationoperations when their initial motion estimations are close to beingacceptable. The process 600 of FIG. 6 is also intended to speed up themotion estimation process by sorting the motion estimation techniques ina descending order based on their speed, and examining successivetechniques until one produces an acceptable solution.

While the invention has been described with reference to numerousspecific details, one of ordinary skill in the art will recognize thatthe invention can be embodied in other specific forms without departingfrom the spirit of the invention. For instance, although the process 100selects between only two different search windows and two differentinitial step sizes, other embodiments might select among three or moredifferent search windows and/or step sizes. Also, some embodiments mightonly adaptively select the search window or the step size, but not both.

The process 100 was described above by reference to the step-sizereducing motion estimation process of FIG. 4. This process could just aswell been described by reference to another hierarchicalmotion-estimation operation, such as an operation that examines imagearrays at different image resolutions (e.g., examine down-sampled imagearrays, and then examines image arrays at higher and higherresolutions). In such a case, the process 100 of FIG. 1 might start themotion estimation on a coarser resolution level when it detects (at 115)that the computed error exceeds the threshold, or it might start themotion estimation at a lower finer resolution level when it detects (at115) that the computed error does not exceed the threshold.

Also, as the estimated error increases, some embodiments mightadaptively select different reference frames to examine (i.e., the mightadaptively search across time). In addition, even though hierarchicalmotion-estimation searches were described above, other embodiments mightutilize other motion-estimation searches. Furthermore, the process 500starts using a step size of 1 when it determines (at 515) that thepredicted array's error is less than a threshold. Other embodiments,however, might not reduce the step size to 1 in this situation. Forinstance, some might reduce the step size to 2 or 4, in order to allowthe hierarchical search to perform a coarser search about the predictedlocation. Thus, one of ordinary skill in the art would understand thatthe invention is not to be limited by the foregoing illustrativedetails, but rather is to be defined by the appended claims.

1. A non-transitory computer readable medium storing a computer programthat when executed by at least one processor performs motion estimationfor an image array obtained from a current image in a sequence of videoimages, the computer program comprising sets of instructions for:performing a first motion estimation process that searches for the imagearray in a reference image in the sequence of images (i) to identify afirst motion vector that provides a first estimate of a motion of theimage array between the current image and the reference image, and (ii)to obtain a first error estimate for the first estimate of the motion ofthe image array; when the first error estimate is greater than athreshold value, performing a second different motion estimation processthat searches for the image array in the reference image (i) to identifya second motion vector that provides a second estimate of the motion ofthe image array between the current image and the reference image, and(ii) to obtain a second error estimate for the second estimate of themotion of the image array; when the second error estimate is greaterthan the threshold value, performing a third motion estimation processto obtain a third estimate of the motion of the image array between thecurrent image and the reference image; and encoding said current imagebased the motion of the image array.
 2. The non-transitory computerreadable medium of claim 1, wherein the computer program furthercomprises a set of instructions for specifying the first estimate of themotion of the image array as a final estimate of the motion of the imagearray when the first error estimate is less than or equal to thethreshold value.
 3. The non-transitory computer readable medium of claim1, wherein the set of instructions for performing the first motionestimation process comprises sets of instructions for: comparing theimage array obtained from the current image with a set of differentreference image arrays that are obtained from the reference image,wherein the image array obtained from the current image is acurrent-image array and each image array obtained from the referenceimage is a reference-image array; identifying a particularreference-image array that is least different from the current-imagearray based on the comparison; and identifying the first motion vectorbased on a position of the current-image array in the current image anda position of the particular reference-image array in the referenceimage.
 4. The non-transitory computer readable medium of claim 3,wherein the computer program further comprises a set of instructions forcomputing the first error estimate by aggregating an absolute value of adifference between corresponding image values in the current-image arrayand the particular reference-image array.
 5. The non-transitory computerreadable medium of claim 3, wherein the set of instructions forcomparing the current-image array and the set of differentreference-image arrays comprises a set of instructions for aggregatingan absolute value of a difference between corresponding image values inthe current-image array and the particular reference-image array.
 6. Thenon-transitory computer readable medium of claim 1, wherein the imagearray specifies image values for a two-dimensional set of pixels in thecurrent image.
 7. The non-transitory computer readable medium of claim6, wherein the set of pixels is a macroblock that has a width of 16pixels and a height of 16 pixels.
 8. The non-transitory computerreadable medium of claim 1, wherein the computer program furthercomprises a set of instructions for specifying the second estimate ofthe motion of the image array as a final estimate of the motion of theimage array when the second error estimate is less than or equal to thethreshold value.
 9. The non-transitory computer readable medium of claim1, wherein each of the motion estimation processes performs at least onesearch in at least one reference image to obtain the correspondingestimate of the motion of the image array.
 10. The non-transitorycomputer readable medium of claim 1, wherein the motion estimationprocesses are sorted from an expected fastest to an expected slowest,wherein the computer program further comprises sets of instructions foriteratively selecting each of the motion estimation processes accordingto the sorted order to obtain the corresponding estimate of the motionof the image array and to obtain the corresponding error estimate. 11.The non-transitory computer readable medium of claim 10, wherein the setof instructions for performing the third motion estimation processcomprises a set of instructions for obtaining a third error estimate forthe third estimate of the motion of the image array, wherein thecomputer program further comprises a set of instructions for specifyingthe third estimate of the motion of the image array as a specifiedestimate of the motion of the image array when the third error estimateis less than or equal to the threshold value.
 12. The non-transitorycomputer readable medium of claim 10, wherein the computer programfurther comprises a set of instructions for selecting a lowest errorestimate from each of the error estimates produced from performing eachof the motion estimation processes as a selected estimate of the motionof the image array when none of the error estimates is less than orequal to the threshold value.
 13. A non-transitory computer readablemedium storing a computer program that when executed by at least oneprocessor performs motion-estimation for an image array obtained from acurrent image in a sequence of video images, the computer programcomprising sets of instructions for: iteratively: selecting a particularmotion-estimation searching process from a list of at least threedifferent motion-estimation searching processes that are sorted from anexpected fastest to an expected slowest; performing the particularmotion-estimation searching process that searches for the image array ina reference image in the sequence of video images (i) to identify amotion vector that provides an estimate of a motion of the image arrayand (ii) to identify a motion-estimation error for the estimate of themotion of the image array, the iterative selecting and performingterminated when the identified motion-estimation error meets a samethreshold; and encoding said current image based the motion of the imagearray.
 14. The non-transitory computer readable medium of claim 13,wherein each particular motion-estimation searching process produces amotion estimation, wherein the computer program further comprises a setof instructions for defining a particular motion estimation that meetsthe same threshold as a specified estimate of a motion of a set ofpixels in an image of the video.
 15. The non-transitory computerreadable medium of claim 13, wherein the set of instructions forselecting the particular motion-estimation searching process comprises aset of instructions for selecting, during each iteration, anexpected-fastest motion-estimation searching process in the list thathas not been selected.
 16. The non-transitory computer readable mediumof claim 13, wherein the list of motion-estimation searching processescomprises a third motion-estimation searching process that is differentfrom the first and second processes.
 17. The non-transitory computerreadable medium of claim 16, wherein the first motion-estimationsearching process is designated as a faster process than the secondmotion-estimation searching process, and the second motion-estimationsearching process is designated as a faster process than the thirdmotion-estimation searching process.
 18. A method of performing motionestimation for an image array obtained from a current image in asequence of video images, the method comprising: performing a firstmotion estimation process that searches for the image array in areference image in the sequence of images (i) to identify a first motionvector that provides a first estimate of a motion of the image arraybetween the current image and the reference image, and (ii) to obtain afirst error estimate for the first estimate of the motion of the imagearray; when the first error estimate is greater than a threshold value,performing a second different motion estimation process that searchesfor the image array in the reference image (i) to identify a secondmotion vector that provides a second estimate of the motion of the imagearray between the current image and the reference image, and (ii) toobtain a second error estimate for the second estimate of the motion ofthe image array; when the second error estimate is greater than thethreshold value, performing a third motion estimation process to obtaina third estimate of the motion of the image array between the currentimage and the reference image; and encoding said current image based themotion of the image array.
 19. The method of claim 18, wherein the firstmotion estimation process is designated as a faster process than thesecond motion estimation process, and the second motion estimationprocess is designated as a faster process than the third motionestimation process.
 20. The method of claim 18 further comprisingreceiving a sorted list comprising a plurality of motion estimationprocesses, the sorted list comprising the first motion estimationprocess that, based on prior analysis, is expected to be a fastestprocess in the plurality of motion estimation processes and a lastmotion estimation process that, based on the prior analysis, is expectedto be a slowest process in the plurality of motion estimation processes,wherein performing the motion estimation processes comprises iterativelyperforming one or more of the plurality of motion estimation processesaccording to the sorted list.
 21. A method of performingmotion-estimation for an image array obtained from a current image in asequence of video images, the method comprising: iteratively: selectinga particular motion-estimation searching process from a list of at leastthree different motion-estimation searching processes that are sortedfrom an expected fastest to an expected slowest; performing theparticular motion-estimation searching process that searches for theimage array in a reference image in the sequence of video images (i) toidentify a motion vector that provides an estimate of a motion of theimage array and (ii) to identify a motion-estimation error for theestimate of the motion of the image array, the iterative selecting andperforming terminated when the identified motion-estimation error meetsa same threshold; and encoding said current image based the motion ofthe image array.
 22. The method of claim 21, wherein each particularmotion-estimation searching process produces a motion estimation, themethod further comprising defining a particular motion estimation thatmeets the same threshold as a specified estimate of a motion of a set ofpixels in an image of the video.
 23. The method of claim 21, whereinselecting the particular motion-estimation searching process comprisesselecting, during each iteration, an expected-fastest motion-estimationsearching process in the list that has not been selected.
 24. The methodof claim 21, wherein the list of motion-estimation searching processescomprises a third motion-estimation searching process that is differentfrom the first and second processes.
 25. The method of claim 24, whereinthe first motion-estimation searching process is designated as a fasterprocess than the second motion-estimation searching process, and thesecond motion-estimation searching process is designated as a fasterprocess than the third motion-estimation searching process.